From 21d809df8d79862509a2f1702176bb014a53bea3 Mon Sep 17 00:00:00 2001
From: renwj <renwenjie@zhidaoauto.com>
Date: Mon, 20 Jun 2022 17:35:18 +0800
Subject: [PATCH] =?UTF-8?q?[=E7=8A=B6=E6=80=81=E6=A0=8F][RTK]=E4=BC=98?=
 =?UTF-8?q?=E5=8C=96RTK=E7=8A=B6=E6=80=81=E8=8E=B7=E5=8F=96=E9=80=BB?=
 =?UTF-8?q?=E8=BE=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../status/flow/can/CanImpl.kt                   |  5 ++++-
 .../status/flow/rtk/RTKImpl.kt                   | 16 +++++++++++-----
 .../CallerAutoPilotStatusListenerManager.kt      | 10 +++++-----
 3 files changed, 20 insertions(+), 11 deletions(-)

diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
index a9883ddcb3..25788e076c 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -31,7 +31,10 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
         timeOutCheck()
     }
 
-    private fun isCanEnabled() = CallerAutoPilotManager.isConnected() && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_CAN"
+    private fun isCanEnabled(): Boolean {
+        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
+        return CallerAutoPilotManager.isConnected() && code != "EHW_CAN"
+    }
 
 
     override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
index 1e99a5fcec..5dde572dbd 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
@@ -24,8 +24,16 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
-    private fun isRTKEnabled() =
-        CallerAutoPilotManager.isConnected() && (CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_RTK" && CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode() != "EHW_GNSS") && CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo() != null
+    private fun isRTKEnabled(): Boolean {
+        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
+        val gnssInfo = CallerAutopilotCarStatusListenerManager.getCurrentGnssInfo()
+        return CallerAutoPilotManager.isConnected() && (
+                        code != "EHW_RTK" &&
+                        code != "EHW_GNSS" &&
+                        code != "ESYS_RTK_STATUS_FAULT" &&
+                        code != "ELCT_RTK_STATUS_FAULT" &&
+                        code != "ELCT_RTK_STATUS_UNKNOWN") && gnssInfo != null
+    }
 
     override fun onAutopilotCarStateData(gnssInfo: GnssInfo?) {
         send(RTKStatus(isRTKEnabled()))
@@ -34,9 +42,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotCarSt
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
-            send(RTKStatus(false))
-        }
+        send(RTKStatus(isRTKEnabled()))
     }
 
     private fun timeOutCheck() {
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index 34f7ad0caa..090160f922 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -167,11 +167,11 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
      */
     @Synchronized
     fun invokeAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
-//        M_AUTOPILOT_STATUS_LISTENERS.forEach {
-//            val listener = it.value
-//            autoPilotMessageCode = guardianInfo?.code ?: ""
-//            listener.onAutopilotGuardian(guardianInfo)
-//        }
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
+            val listener = it.value
+            autoPilotMessageCode = guardianInfo?.code ?: ""
+            listener.onAutopilotGuardian(guardianInfo)
+        }
     }
 
     /**